Merge pull request #4 from openhumanoids/mf-change-channel

change default channel
openhumanoids · Nov 16, 2016 · b258841 · b258841
2 parents 4e2e852 + 5d4b037
commit b258841
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Showing 7 changed files with 11 additions and 11 deletions.
diff --git a/maps_server/src/apps/DataRequestServer.cpp b/maps_server/src/apps/DataRequestServer.cpp
@@ -166,7 +166,7 @@ struct Worker {
 
   void sendOctreeWorkspaceRequest() {
     maps::request_t msg = prepareRequestMessage();
-    msg.map_id = 1; // 1 means use SCAN_FREE | 2 or 3 means use SCAN
+    msg.map_id = 1; // 1 means use MULTISENSE_SCAN_FREE | 2 or 3 means use MULTISENSE_SCAN
     msg.view_id = maps::data_request_t::OCTREE_WORKSPACE;
     msg.resolution = 0.01;
     // Mode recently changed to time history
@@ -325,7 +325,7 @@ struct Worker {
 
   void sendDepthMapWorkspaceRequest() {
     maps::request_t msg = prepareRequestMessage();
-    msg.map_id = 1; // 2 or 3 means use SCAN | 1 means use SCAN_FREE
+    msg.map_id = 1; // 2 or 3 means use MULTISENSE_SCAN | 1 means use MULTISENSE_SCAN_FREE
     msg.view_id = maps::data_request_t::DEPTH_MAP_WORKSPACE_C;
     msg.resolution = 0.01;
     msg.width = msg.height = 200;

diff --git a/maps_server/src/apps/PointCloudRegistrar.cpp b/maps_server/src/apps/PointCloudRegistrar.cpp
@@ -54,7 +54,7 @@ struct State : public maps::Collector::DataListener {
     mBotWrapper.reset(new maps::BotWrapper(mLcm));
     mCollector.reset(new maps::Collector());
     mCollector->setBotWrapper(mBotWrapper);
-    mLaserChannel = "SCAN_FREE";
+    mLaserChannel = "MULTISENSE_SCAN_FREE";
     mUpdateChannel = "MAP_LOCAL_CORRECTION";
     mActiveMapId = 1;
     mTimeMin = mTimeMax = 0;

diff --git a/maps_server/src/apps/TestMain.cpp b/maps_server/src/apps/TestMain.cpp
@@ -347,7 +347,7 @@ int main() {
   state.mActiveMapId = state.mCollector->getMapManager()->createMap(mapSpec);
 
   // start running wrapper
-  std::string laserChannel("SCAN");
+  std::string laserChannel("MULTISENSE_SCAN");
   state.mCollector->getDataReceiver()->
     addChannel(laserChannel,
                SensorDataReceiver::SensorTypePlanarLidar,

diff --git a/maps_server/src/apps/server/ServerMain.cpp b/maps_server/src/apps/server/ServerMain.cpp
@@ -470,7 +470,7 @@ class State {
     maps::Clock::instance()->setVerbose(false);
     mCollector.reset(new Collector());
     mCollector->setBotWrapper(mBotWrapper);
-    mStereoHandlerHead.reset(new StereoHandler(mBotWrapper, "CAMERA"));
+    mStereoHandlerHead.reset(new StereoHandler(mBotWrapper, "MULTISENSE_CAMERA"));
     if (!mStereoHandlerHead->isGood()) mStereoHandlerHead.reset();
     mFusedDepthHandler.reset(new FusedDepthHandler(mBotWrapper));
     // TODO: can we avoid hard-coding these?
@@ -631,7 +631,7 @@ int main(const int iArgc, const char** iArgv) {
   auto lcm = state.mBotWrapper->getLcm();
 
   // parse arguments
-  string laserChannel = "SCAN_FREE";
+  string laserChannel = "MULTISENSE_SCAN_FREE";
   float publishPeriod = 0;
   float defaultResolution = 0.1;
   bool latestSwath = false;
@@ -664,15 +664,15 @@ int main(const int iArgc, const char** iArgv) {
     state.mCollector->bind(rawChannel, 3);
   }
 
-  // add unfiltered map (SCAN_FREE)
+  // add unfiltered map (MULTISENSE_SCAN_FREE)
   LocalMap::Spec mapSpec;
   mapSpec.mId = 1;
   mapSpec.mPointBufferSize = 5000;
   mapSpec.mActive = true;
   mapSpec.mResolution = defaultResolution;
   state.mCollector->getMapManager()->createMap(mapSpec);
 
-  // add angle-filtered map (SCAN)
+  // add angle-filtered map (MULTISENSE_SCAN)
   mapSpec.mId = 2;
   state.mCollector->getMapManager()->createMap(mapSpec);
   auto localMap = state.mCollector->getMapManager()->getMap(mapSpec.mId);

diff --git a/maps_server/src/renderers/annotated-camera-renderer/AnnotatedCameraRenderer.cpp b/maps_server/src/renderers/annotated-camera-renderer/AnnotatedCameraRenderer.cpp
@@ -478,7 +478,7 @@ class AnnotatedCameraRenderer : public gtkmm::RendererBase {
     Gtk::Notebook* notebook = Gtk::manage(new Gtk::Notebook());
 
     Gtk::VBox* page = Gtk::manage(new Gtk::VBox());
-    addCameraWidget("CAMERA", page);
+    addCameraWidget("MULTISENSE_CAMERA", page);
     addCameraWidget("CAMERA_LHAND", page);
     addCameraWidget("CAMERA_RHAND", page);
     notebook->append_page(*page, "Cameras");

diff --git a/maps_server/src/renderers/camera-renderer/CameraRenderer.cpp b/maps_server/src/renderers/camera-renderer/CameraRenderer.cpp
@@ -568,7 +568,7 @@ class CameraRenderer : public gtkmm::RendererBase {
     container->pack_start(*mViewTargetTable,false,false);
 
     CameraState::Ptr cam;
-    cam.reset(new CameraState("CAMERA", "head", this, true));
+    cam.reset(new CameraState("MULTISENSE_CAMERA", "head", this, true));
     cam->mPlacement = ImagePlacementTopCenter;
     cam->mNativeImage = true;
     mCameraStates.push_back(cam);

diff --git a/maps_server/src/renderers/maps-renderer/MapsRenderer.cpp b/maps_server/src/renderers/maps-renderer/MapsRenderer.cpp
@@ -27,7 +27,7 @@ MapsRenderer(BotViewer* iViewer, const int iPriority,
   mMeshRenderer->setBotObjects(getLcm(), getBotParam(), getBotFrames());
   mMeshRenderer->addCameraChannel("CAMERACHEST_LEFT");
   mMeshRenderer->addCameraChannel("CAMERACHEST_RIGHT");
-  mMeshRenderer->addCameraChannel("CAMERA",true);
+  mMeshRenderer->addCameraChannel("MULTISENSE_CAMERA",true);
   //mMeshRenderer->setActiveCameraChannel("CAMERA_LEFT");
   mViewClient.setBotWrapper(mBotWrapper);
   mViewClient.addListener(this);